Modelling and Finite Element Based Analysis of Grasping of a Cuboidal Shaped Object by a Five Fingered Underactuated Robotic Hand

International Journal of Mechanical Engineering

© 2022 by SSRG - IJME Journal

Volume 9 Issue 6

Year of Publication : 2022

Authors : Deepak Ranjan Biswal, Dibyendu Sekhar Sahoo, Bikram Keshari Routray

10.14445/23488360/IJME-V9I6P101

How to Cite?

Deepak Ranjan Biswal, Dibyendu Sekhar Sahoo, Bikram Keshari Routray, "Modelling and Finite Element Based Analysis of Grasping of a Cuboidal Shaped Object by a Five Fingered Underactuated Robotic Hand," SSRG International Journal of Mechanical Engineering, vol. 9,  no. 6, pp. 1-7, 2022. Crossref, https://doi.org/10.14445/23488360/IJME-V9I6P101

Abstract:

In humanoid robotics, it is a great challenge to provide a robotic system with the handy ability and autonomous skills, specifically in the field of Industrial manufacturing, Prosthesis, orthopedic rehabilitation, etc. A complex level of actuation and transmission system is required for a multi-fingered hand to perform its operation. The underactuated concepts come to be a possible solution to achieve robotic hands with high dexterity without complicated mechanical design. The major features of an underactuated robotic hand are that the number of required actuators to control the hand is less than its degree of freedom. The underactuation decreases the complexity of the control system impressively and is much less expensive than the fully actuated equivalent hand. The present work dealt with modelling and finite element-based investigation of a five-fingered Robotic hand used to grasp a cuboidal-shaped object; the hand comprises four underactuated fingers, a self-operated thumb, and a palm.

Keywords:

Dexterous, Grasping, Prosthesis, Tendondriven, Underactuation.

References:

[1] N. Fukaya et al., "Design of the TUAT/Karlsruhe Humanoid Hand," Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 1754-1759, 2000.
[CrossRef] [Google Scholar] [Publisher Link]
[2] Muhammad Hafiz bin Mohamed Azri, and Ruhizan Liza Ahmad Shauri, "Finite Element Analysis of a Three-Fingered Robot Hand Design," 2014 IEEE 4th International Conference on System Engineering and Technology, vol. 4, pp. 1-6, 2014.
[CrossRef] [Google Scholar] [Publisher Link]
[3] E. N. Gama Melo, O. F. Aviles Sanchez, and D. Amaya Hurtado, "Anthropomorphic Robotic Hands: A Review," Engineering and Development, vol. 32, no. 2, pp. 279-313, 2014.
[Google Scholar] [Publisher Link]
[4] S. S. Bhavikatti, Finite Element Analysis, New Age International, 2005.
[Google Scholar] [Publisher Link]
[5] Vishal Jagota, Aman Preet Singh Sethi, and Khushmeet Kumar, "Finite Element Method: An Overview," Walailak Journal of Science and Technology, vol. 10, no. 1, pp. 1-8, 2013.
[Google Scholar] [Publisher Link]
[6] Clement Gosselin, Frederic Pelletier, and Thierry Laliberte, "An Anthropomorphic Underactuated Robotic Hand with 15 Dofs and a Single Actuator," 2008 IEEE International Conference on Robotics and Automation, pp. 749-754, 2008.
[CrossRef] [Google Scholar] [Publisher Link]
[7] Christian Cipriani, Marco Controzzi, and Maria Chiara Carrozza, "Objectives, Criteria and Methods for the Design of the Smarthand Transradial Prosthesis," Robotica, vol. 28, no. 6, pp. 919-927, 2010.
[CrossRef] [Google Scholar] [Publisher Link]
[8] Stefan Schulz, "First Experiences with the Vincent Hand," 2011.
[Google Scholar] [Publisher Link]
[9] Dong-Hyuk Lee et al., "KITECH-Hand: A Highly Dexterous and Modularized Robotic Hand," IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, pp. 876-887, 2017.
[CrossRef] [Google Scholar] [Publisher Link]
[10] Zhang Wen-zeng et al., "Superunderactuated Multifingered Hand for Humanoid Robot," Frontiers of Mechanical Engineering in China, vol. 1, no. 1, pp. 33-39, 2006.
[CrossRef] [Google Scholar] [Publisher Link]
[11] T. Asfour, and R. D.-P. of the S. I. Symposium, Design of the TUAT/Karlsruhe Humanoid Hand, academia.edu, 2000. [Online]. Available: https://www.academia.edu/download/44186523/Design_of_the_TUATKarlsruhe_Humanoid_Han20160329-996-eo8lg.pdf
[12] Hai Huang et al., "The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand," IEEE International Conference on Robotics and Biomimetics, pp. 896–901, 2006.
[CrossRef] [Google Scholar] [Publisher Link]
[13] Raphael Deimel, and Oliver Brock, "A Novel Type of Compliant and Underactuated Robotic Hand for Dexterous Grasping," The International Journal of Robotics Research, vol. 35, no. 1-3, pp. 161–185, 2015.
[CrossRef] [Google Scholar] [Publisher Link]
[14] Wenzeng Zhang et al., "Super Under-Actuated Multi-Fingered Mechanical Hand with Modular Self-Adaptive Gear-Rack Mechanism," Industrial Robot, vol. 36, no. 3, pp. 255-262, 2009.
[CrossRef] [Google Scholar] [Publisher Link]
[15] Prensilia s.r.l., IH2 Azzurra series - Data Sheet, 2014. [Online]. Available: http://www.prensilia.com/files/support/doc/DS-IH2-v02.pdf
[16] Giovanni A. Zappatore, Giulio Reina, and Arcangelo Messina, "Analysis of a Highly Underactuated Robotic Hand," International Journal of Mechanics and Control, vol. 18, no. 2, pp. 17-24, 2017.
[Google Scholar] [Publisher Link]
[17] Charalambos Konnaris et al., "EthoHand: A Dexterous Robotic Hand with Ball-Joint Thumb Enables Complex In-Hand Object Manipulation," 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, pp. 1154-1159, 2016.
[CrossRef] [Google Scholar] [Publisher Link]
[18] Hoang Thi Phuong, "Researching Robot Arm Control System Based on Computer Vision Application and Artificial Intelligence Technology," SSRG International Journal of Computer Science and Engineering, vol. 8, no. 1, pp. 24-29, 2021.
[CrossRef] [Publisher Link]
[19] G. Mode and C. Hand, "A Novel Coupled and Self-adaptive Under-actuated Grasping Mode and the COSA-DTS Hand," International Conference on Intelligent Robotics and Applications, pp. 59-70, 2010.
[CrossRef] [Google Scholar] [Publisher Link]
[20] Lael U. Odhner, Raymond R. Ma, and Aaron M. Dollar, "Precision Grasping and Manipulation of Small Objects from Flat Surfaces Using Underactuated Fingers," 2012 IEEE International Conference on Robotics and Automation, pp. 2830-2835, 2012.
[CrossRef] [Google Scholar] [Publisher Link]
[21] Irfan Hussain et al., "Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity," IEEE Robotics and Automation Letters, vol. 3. no. 4, pp. 2854-2861, 2018.
[CrossRef] [Google Scholar] [Publisher Link]
[22] Mohammed Farhan Jawad et al., "Farmer Robot for Harvesting and Maintaining Plants," SSRG International Journal of Electrical and Electronics Engineering, vol. 7, no. 1, pp. 7-11, 2020.
[CrossRef] [Google Scholar] [Publisher Link]
[23] A. Bicchi, and V. Kumar, "Robotic Grasping and Contact: A Review," Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation, vol. 1, pp. 348–353, 2000.
[CrossRef] [Google Scholar] [Publisher Link]
[24] M. T. Mason, and J. K. Salisbury Jr, Robot Hands and the Mechanics of Manipulation, 1985.
[Google Scholar] [Publisher Link]
[25] A. Bicchi, "Hands for Dexterous Manipulation and Robust Grasping: A Difficult Road Toward Simplicity," IEEE Transactions on Robotics and Automation, vol. 16, no. 6, pp. 652-662, 2000.
[CrossRef] [Google Scholar] [Publisher Link]
[26] C. Borst, M. Fischer, and G. Hirzinger, "A Fast and Robust Grasp Planner for Arbitrary 3D Objects," Proceedings 1999 IEEE International Conference on Robotics and Automation, vol. 3, pp. 1890-1896, 1999.
[CrossRef] [Google Scholar] [Publisher Link]
[27] M. Buss, H. Hashimoto, and J. B. Moore, "Dextrous Hand Grasping Force Optimization," IEEE Transactions on Robotics and Automation, vol. 12, no. 3, pp. 406-418, 1996.
[CrossRef] [Google Scholar] [Publisher Link]
[28] J. Hughes et al., "Soft Manipulators and Grippers: A Review," Frontiers in Robotics and AI, vol. 3, p. 69, 2016.
[CrossRef] [Google Scholar] [Publisher Link]
[29] Maximo A. Roa et al., "Power Grasp Planning for Anthropomorphic Robot Hands," 2012 IEEE International Conference on Robotics and Automation, pp. 563-569, 2012.
[CrossRef] [Google Scholar] [Publisher Link]
[30] P. K. Parida, "Kinematic Analysis of Multi-Fingered, Anthropomorphic Robotic Hands," 2013.
[Google Scholar] [Publisher Link]
[31] R. A. R. C. Gopura et al., 2020 6th International Conference on Control, Automation and Robotics, 2020.